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transformScan

Transform laser scan based on relative pose

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Syntax

transScan = transformScan(scan,relPose)
[transRanges,transAngles] = transformScan(ranges,angles,relPose)

Description

transScan = transformScan(scan,relPose) transforms the laser scan specified in scan by using the specified relative pose, relPose.

example

[transRanges,transAngles] = transformScan(ranges,angles,relPose) transforms the laser scan specified in ranges and angles by using the specified relative pose, relPose.

Examples

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Open Live Script

Create a lidarScan object. Specify the ranges and angles as vectors. 

refRanges = 5*ones(1,300);
refAngles = linspace(-pi/2,pi/2,300);
refScan = lidarScan(refRanges,refAngles);

Translate the laser scan by an [x y] offset of (0.5,0.2).

transformedScan = transformScan(refScan,[0.5 0.2 0]);

Rotate the laser scan by 20 degrees.

rotateScan = transformScan(refScan,[0,0,deg2rad(20)]);

Input Arguments

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Lidar scan readings, specified as a lidarScan object.

Range values from scan data, specified as a vector in meters. These range values are distances from a sensor at specified angles. The vector must be the same length as the corresponding angles vector.

Angle values from scan data, specified as a vector in radians. These angle values are the specific angles of the specified ranges. The vector must be the same length as the corresponding ranges vector.

Relative pose of current scan, specified as [x y theta], where [x y] is the translation in meters and theta is the rotation in radians.

Output Arguments

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Transformed lidar scan readings, specified as a lidarScan object.

Range values of transformed scan, returned as a vector in meters. These range values are distances from a sensor at specified transAngles. The vector is the same length as the corresponding transAngles vector.

Angle values of transformed scan, returned as a vector in radians. These angle values are the specific angles of the specified transRanges. The vector is the same length as the corresponding ranges vector.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2017a